Robot arm

Technical specification
UR3e UR5e UR10e UR16e UR20*
Specification
Payload 3 kg (6.6 lbs) 5 kg (11 lbs) 12.5 kg (27.5 lbs) 16 kg (35.3 lbs) 20 kg (44.1 lbs)
Reach 500 mm (19.7 in) 850 mm (33.5 in) 1300 mm (51.2 in) 900 mm (35.4 in) 1750 mm (68.9 in)
Degrees of freedom < 6 rotating joints > < 6 rotating joints >
Programming < 12 inch touchscreen with PolyScope graphical user interface > < 12 inch touchscreen with PolyScope graphical user interface >

Performance
Power consumption
Maximum power 300 W 570 W 615 W 585 W 750 W
Moderate operating settings 100 W 200 W 350 W 350 W 300 W
Operating temperature range < Ambient temperature: 0-50 °C (32-122 °F) > < Ambient temperature: 0-50 °C (32-122 °F) >
Safety functions < 17 configurable safety functions > < 17 configurable safety functions >
In compliance with < EN ISO 13849-1 (PLd category 3) EN ISO 10218-1 > < EN ISO 13849-1 (PLd category 3) EN ISO 10218-1 >
Force sensing, tool flange/torque sensor Force, x-y-z Torque, x-y-z
Range
Force, x-y-z
30.0 N
Torque, x-y-z
10.0 Nm
Force, x-y-z
50.0 N
Torque, x-y-z
10.0 Nm
Force, x-y-z
100.0 N
Torque, x-y-z
10.0 Nm
Force, x-y-z
160.0 N
Torque, x-y-z
10.0 Nm 200.0 N 20.0 Nm
Industry standard
Precision 2.0 N 0.1 Nm 3.5 N 0.2 Nm 5.0 N 0.2 Nm 5.0 N 0.2 Nm 5.5 N 0.2 Nm communication
Accuracy 3.5 N 0.1 Nm 4.0 N 0.3 Nm 5.5 N 0.5 Nm 5.5 N 0.5 Nm 0.1 N 1.0 Nm
protocols such as
Movement Modbus, PROFIsafe, and
Typical TCP speed 1 m/s 1 m/s 1 m/s 1 m/s 2 m/s Ethernet/IP are included
Pose repeatability per ISO 9283 ± 0.03 mm ± 0.03 mm ± 0.05 mm ± 0.05 mm ± 0.1 mm in all cobot models.
Axis Movement Working range Maximum speed Working range Maximum speed Working range Maximum speed Working range Maximum speed Working range Maximum speed Our open platform
Base ± 360° ± 180°/s ± 360° ± 180°/s ± 360° ± 120°/s ± 360° ± 120°/s ± 360° ± 120°/s
Shoulder ± 360° ± 180°/s ± 360° ± 180°/s ± 360° ± 120°/s ± 360° ± 120°/s ± 360° ± 120°/s enables manufacturers
Elbow ± 360° ± 180°/s ± 360° ± 180°/s ± 360° ± 180°/s ± 360° ± 180°/s ± 360° ± 150°/s to expand connections
Wrist 1 ± 360° ± 360°/s ± 360° ± 180°/s ± 360° ± 180°/s ± 360° ± 180°/s ± 360° ± 210°/s
Wrist 2 ± 360° ± 360°/s ± 360° ± 180°/s ± 360° ± 180°/s ± 360° ± 180°/s ± 360° ± 210°/s between cobots and
± 360° ± 210°/s
Wrist 3 Infinite ± 360°/s ± 360° ± 180°/s ± 360° ± 180°/s ± 360° ± 180°/s machines without
Features hidden costs.
IP classification IP54 water protection IP54 water protection IP54 water protection IP54 water protection IP65 water protection
Cleanroom Class 6 at 20 Cleanroom Class 4 at 20 Cleanroom Class 5 at 20 and Cleanroom Class 5 at 20 and UR’s e-Series cobots
classification ISO at max. speed classification ISO at max. speed classification ISO 40 % at max. speed classification ISO 40 % at max. speed
14644-1 classification and payload, 14644-1 classification and payload, 14644-1 classification and payload, 14644-1 classification and payload,
are certified by TÜV
of air cleanliness by Class 7 at 40% of air cleanliness by Class 5 at 40 and of air cleanliness by Class 6 at 80% of air cleanliness by Class 6 at 80% NORD for ISO10218-1
particle concentration and 80% at max. particle concentration 80% at max. speed particle concentration at max. speed particle concentration at max. speed
speed and payload and payload and payload and payload and safety functions
Noise < 60 dB(A) < 65 dB(A) < 65 dB(A) < 65 dB(A) < 65 dB(A) are rated as Cat.3
Robot mounting Any Orientation Any Orientation Any Orientation Any Orientation Any Orientation
PLd according to ISO
I/O Ports
Digital in 2 2 2 2 2 13849-1. It is, however,
2 2 2 2 2
Digital out
2 2 2 2 2
crucial to perform a risk
Analog in
Tool I/O power supply voltage 12/24 V 12/24 V 12/24 V 12/24 V 12/24 V assessment to ensure
Tool I/O power supply 600 mA
1.5 A (Dual pin) 2 A (Dual pin) 2 A (Dual pin) 2 A (Dual pin) all required safety
1 A (Single pin) 1 A (Single pin) 1 A (Single pin) 1 A (Single pin)
measures are
Physical in place.
Footprint Ø 128 mm Ø 149 mm Ø 190 mm Ø 190mm Ø 245 mm
Materials < Aluminium, Plastic, Steel > < Aluminium, Plastic, Steel >
M8 | M8 8-pin (female)
Tool flange connector type < M8 | M8 8-pin (male), EN ISO-9409-1-50-4-M6 > < M8 | M8 8-pin (male), EN ISO-9409-1-50-4-M6 >
EN ISO-9409-1-80-6-M8
Cable length (robot arm) < 6 m (236 in) > < 6 m (236 in) >
Weight including cable 11.2 kg (24.7 lbs) 20.6 kg (45.4 lbs) 33.5 kg (73.9 lbs) 33.1 kg (73 lbs) 64 kg (141.1 lbs)
Humidity < ≤ 90% RH (non-condensing) > < ≤ 90% RH (non-condensing) >
 Control box and teach pendant
Technical specification
Control box CB 5.2
Features
Robot types UR3e, UR5e, UR10e, UR16e
Software compatibility PolyScope 5 and below
IP classification IP44 water protection
ISO 14644-1 class cleanroom 6 6
Operating temperature range 0-50 °C (32-122 °F)
I/O Ports
Digital In 16
Digital Out 16
Analog In 2 2
Analog Out 2 2
Quadrature Digital Inputs 4 4
I/O power supply 24V, 2A
Communication 500 Hz Control frequency
Modbus TCP USB 2.0, USB
3.0
Ethernet/IP
USB 2.0, USB 3.0
PROFINET
ROS/ROS 2 driver
(optional,m open source)
Euromap-67 (optional)
SPI AN-146 (optional)
Injection Moulding Machine
Interface (IMMI, optional)
RAM 2 GB
Power Source 100-240 VAC, 47-440 Hz
Physical
460 mm x 449 mm x 254
Control box size (W x H x D) mm
(18.2 in x 17.6 in x 10 in)
Weight 12 kg (26.5 lbs)
UR3e: 600 W
Power supply output
UR5e, UR10e, UR16e: 1500 W
Materials Powdered coated steel
Humidity ≤ 90% RH (non-condensing)
Teach pendant Standard 3PE
Features
Robot types e-Series (standard) e-Series (optional), UR20 (standard)
IP classification IP54 water protection IP54 water protection
EN ISO 10218-1 EN ISO 10218-1
Incl. in certifications
CB 5.5* OEM 5.2 OEM 5.5* EN ISO 13849-1 EN ISO 13849-1
Humidity ≤ 90% RH (non-condensing) ≤ 90% RH (non-condensing)
Display resolution 1280 x 800 pixels 1280 x 800 pixels
2 buttons to support for right and left
Freedrive 1 button
UR3e, UR5e, UR10e, UR16e, UR20 UR3e, UR5e, UR10e, UR16e UR3e, UR5e, UR10e, UR16e, UR20 handed operation
All PolyScope versions PolyScope 5 and below All PolyScope versions
Physical
IP44 water protection IP20 water protection IP20 water protection
Materials Plastic (PC/ASA) Plastic (PC/ASA)
6 6
300 mm x 231 mm x 50 mm 300 mm x 231 mm x 50 mm
0-50 °C (32-122 °F) 0-50 °C (32-122 °F) 0-50 °C (32-122 °F) Teach pendant size
(11.8 in x 9.1
Updated in x 1.972023
November in) (11.8 in x 9.1 in x 1.97 in)
Weight (inclding 1 m TP cable) 1.6 kg (3.5 lbs) 1.8 kg (3.961 lbs)
16 16 16
Cable length (Teach pendant) 4.5 m (177.17 in) 4.5 m (177.17 in)
16 16 16
2 2
2 2
4 4
24V, 2A 24V, 2A 24V, 2A
500 Hz Control frequency Modbus 500 Hz Control frequency 500 Hz Control frequency Modbus
TCP USB 2.0, USB 3.0 Modbus TCP USB 2.0, USB 3.0 TCP USB 2.0, USB 3.0
Ethernet/IP Ethernet/IP Ethernet/IP
USB 2.0, USB 3.0 USB 2.0, USB 3.0 USB 2.0, USB 3.0
PROFINET PROFINET PROFINET
ROS/ROS 2 driver (optional,m open ROS/ROS 2 driver (optional,m ROS/ROS 2 driver (optional,m open
source) open source) source)
Euromap-67 (optional) Euromap-67 (optional) Euromap-67 (optional)
SPI AN-146 (optional) SPI AN-146 (optional) SPI AN-146 (optional) Cables Standard High-Flex
Injection Moulding Machine Interface Injection Moulding Machine Injection Moulding Machine Interface
(IMMI, optional) Interface (IMMI, optional) (IMMI, optional)
Features
4 GB 2 GB 4 GB
Part Number 105865 1006541 106547 1006548
AC model: 100-240 VAC,
AC model: 100-240 VAC, 47-440 Hz Material PVC PVC PVC PVC
100-240 VAC, 47-440 Hz 47-440 Hz
DC model: 24 - 48 VDC
DC model: 24 - 48 VDC Color Black Black Blue Blue
Length 6 m / 19.7 ft 12 m / 39.4 ft 6 m / 19.7 ft 12 m / 39.4 ft
12.1 mm / 12.1 mm /
Diameter (d) 13.4 mm / 0.53 in 13.4 mm / 0.53 in
0.48 in 0.48 in
460 mm x 449 mm x 254 mm 451 mm x 168 mm x 150 mm 451 mm x 168 mm x 150 mm
4 x d (static) 4 x d (static)
(18.2 in x 17.6 in x 10 in) (17.6 in x 6.6 in x 5.9 in) (17.6 in x 6.6 in x 5.9 in) Bend Radius - -
8 x d (dynamic) 8 x d (dynamic)
AC model: 4.7 kg (10.4 lbs) AC model: 4.7 kg (10.4 lbs) Bend Cylce - - 5 milion 5 million
12 kg (26.5 lbs)
DC model: 4.3 kg (9.5 Ibs) DC model: 4.3 kg (9.5 Ibs)
UR3e: 600 W UR3e: 600 W UR3e: 600 W
UR5e, UR10e, UR16e, UR20: 1500 W UR5e, UR10e, UR16e: 1500 W UR5e, UR10e, UR16e, UR20: 1500 W
Powdered coated steel Aluminium Aluminium Updated November 2023.
≤ 90% RH (non-condensing) ≤ 90% RH (non-condensing) ≤ 90% RH (non-condensing)
Copyright © 2023 by Universal Robots A/S. All rights reserved.